WO2016027394A1

WO2016027394A1 - Information management device, vehicle, and information management method

Info

Publication number: WO2016027394A1
Application number: PCT/JP2015/002855
Authority: WO
Inventors: 聡中屋; 吉田　崇; 広喜河原; 松本　剛宜
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2014-08-21
Filing date: 2015-06-08
Publication date: 2016-02-25
Also published as: CN106575475B; JP2016045609A; US20170242441A1; JP6322812B2; EP3185232A4; CN106575475A; US10353397B2; EP3185232A1

Abstract

This information management device has a difference extraction unit and a determination unit. The difference extraction unit extracts, as difference information, a difference between vehicle periphery three-dimensional information detected by means of a vehicle, and three-dimensional map information. The determination unit determines whether the extracted difference information is a difference intrinsic to the vehicle.

Description

INFORMATION MANAGEMENT DEVICE, VEHICLE, AND INFORMATION MANAGEMENT METHOD

The present invention relates to an information management apparatus, a vehicle, and an information management method using three-dimensional map information.

2. Description of the Related Art In recent years, vehicles have been developed that automatically travel while sensing the surroundings of the host vehicle with various sensors such as a camera and a laser radar mounted on the vehicle.

In order to enable this automatic driving function, three-dimensional map information having accurate road information is required. The accurate road information is, for example, three-dimensional information including information such as road inclination, road unevenness, road shoulder unevenness, as well as detailed position information such as road width, lanes, signs and the like.

Using this three-dimensional map information, travel instruction information for causing the vehicle to automatically drive to the destination is generated. The vehicle can automatically travel to the destination by taking into consideration real-time three-dimensional information around the vehicle detected by various sensors mounted on the vehicle based on the traveling instruction information (for example, Patent Document 1) ).

In order to create three-dimensional map information, a dedicated survey vehicle equipped with various sensors such as a high precision camera and a laser radar is used. These various sensors are installed, for example, above the roof of the vehicle (for example, Patent Document 2).

Further, in an example of the conventional information management apparatus using three-dimensional map information, when it is determined that the road shape recognized based on the captured image of the on-vehicle camera is different from the road shape stored by the road map data, Information including the point where the road information differs and the photographed image at that point is transmitted to the external management server.

The management server stores information on points where the road shape in the road map data differs from the actual road shape based on the on-vehicle camera image. When the road map data is updated, the information on the location where the road map data needs to be corrected can be obtained, so that the time and effort for the update can be reduced (for example, Patent Document 3).

JP, 2009-199572, A JP 2000-74669 A JP, 2009-69900, A

The present invention provides an information management apparatus capable of correcting the difference in measurement conditions between a surveying vehicle for creating three-dimensional map information and a vehicle using this three-dimensional map information.

An information management apparatus according to an aspect of the present invention includes a difference extraction unit and a determination unit. The difference extraction unit extracts, as difference information, the difference between the three-dimensional information around the vehicle and the three-dimensional map information detected by the vehicle. The determination unit determines whether the extracted difference information is a difference unique to the vehicle.

An information management method according to an aspect of the present invention includes a difference extracting step of extracting a difference between three-dimensional information around a vehicle and three-dimensional map information detected by a vehicle as difference information; and the difference information is unique to the vehicle Determining whether it is a difference or not.

The present invention generates correction information based on difference information when it is determined that the difference information is a difference unique to a vehicle. This makes it possible to correct the difference in measurement conditions between the surveying vehicle for creating three-dimensional map information and the vehicle using this three-dimensional map information.

An information management apparatus according to an embodiment of the present invention and a block diagram showing a peripheral configuration Flow chart showing an operation example of the information management apparatus according to the embodiment of the present invention Diagram to explain the difference in measurement conditions between a surveying vehicle and a vehicle using three-dimensional map information

Prior to the description of the embodiments of the present invention, the problems in the conventional information management apparatus will be briefly described. In order to realize the automatic driving shown in Patent Document 1 with the three-dimensional map information created by the technique shown in Patent Document 2, the three-dimensional map information needs to be accurate. On the other hand, the condition of the road is constantly changing. Therefore, it is useful to update three-dimensional map information by the technique shown in Patent Document 3.

However, when the three-dimensional map information is updated by the technique shown in Patent Document 3, the following problems exist.

The various sensors mounted in the vehicle which actually performs automatic driving differ from the various sensors mounted in the survey vehicle which creates three-dimensional map information. For example, although various sensors mounted on a survey vehicle are installed above the roof of the vehicle, various sensors mounted on a vehicle performing automatic driving may be mounted around a bumper.

Thus, if the attachment positions of the various sensors are different, for example, even the same level difference on the road may be detected as different heights. Thus, due to the difference in the mounting position, for example, the height of the object detected by the vehicle may differ from the height of the object included in the three-dimensional map information.

Not only differences in mounting position but also differences in accuracy or performance of various sensors also occur. The accuracy or performance of various sensors is, for example, the resolution of the sensor, the search range of the sensor.

The difference caused by the sensor status between such surveying vehicles and vehicles that actually use three-dimensional map information (hereinafter "difference in measurement conditions") is when updating map information by the technique shown in Patent Document 3. It becomes a problem.

In the technology shown in Patent Document 3, information on points where the road shape in the road map data differs from the road shape based on the on-vehicle camera image is stored in the management server. However, even if it is determined that the road shape in the road map data is different from the road shape based on the on-vehicle camera image, no difference occurs in the actual road shape, and the difference is caused by the difference in measurement conditions. There may be cases. As a result, map information may be updated on the assumption that there is a difference although there is no difference.

As described above, the technology disclosed in Patent Document 3 has a problem that map information may not be updated correctly because the difference in measurement conditions is not taken into consideration.

Although three-dimensional map information needs to be accurate in order to realize automatic driving as shown in Patent Document 1, three-dimensional map information can not be updated accurately unless the difference in measurement conditions is corrected. As a result, there is a possibility that safe automatic driving can not be realized.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that, in all the drawings for describing the respective embodiments, the same elements are denoted by the same reference numerals, and repeated description will be omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 3. First, the information management device and the peripheral configuration will be described using FIG.

[Configuration of information management device]
The information management device 1 of the present embodiment is configured of an automatic driving support server 400 and an on-vehicle device 100. The on-vehicle apparatus 100 is an apparatus mounted on the vehicle 200, and the automatic driving support server 400 is a computer installed outside the vehicle 200.

The on-vehicle apparatus 100 and the automatic driving support server 400 can communicate with each other via the network 300. The automatic driving support server 400 can also mutually communicate with vehicles other than the vehicle 200, such as the other vehicle 500 in FIG.

The network 300 is typically wireless communication, but wire communication can also be applied when communicating via a wired charging cable when charging an electric vehicle or the like. Next, detailed configurations of the in-vehicle device 100 and the automatic driving support server 400 will be described.

[Configuration of in-vehicle device]
The on-vehicle apparatus 100 includes a detection unit 110, a vehicle communication unit 120, a vehicle control unit 130, a vehicle information storage unit 140, a GPS reception unit 150, a notification unit 160, an operation unit 170, and a drive unit 180.

The detection unit 110 detects three-dimensional information around the vehicle 200 (hereinafter, three-dimensional information around the vehicle). The detection unit 110 includes a camera 111 and a laser radar 112.

The camera 111 is configured of, for example, a plurality of cameras, and can detect three-dimensional vehicle periphery information from the difference between two-dimensional images acquired by the respective cameras. The laser radar 112 can also transmit laser pulses to the periphery of the vehicle 200, measure the distance from the time when the reflected wave returns to an object around the vehicle, and detect three-dimensional information around the vehicle. It is also possible to scan the laser beam to detect the shape of objects around the vehicle. The detection unit 110 can also include a sensor other than the above.

The vehicle communication unit 120 transmits and receives various information to and from the automatic driving support server 400 via the network 300. The vehicle side communication unit 120 communicates, for example, by wireless communication using a cellular phone line. Vehicle-side communication unit 120 is controlled by vehicle-side control unit 130.

The vehicle-side control unit 130 is an arithmetic device including, for example, a CPU (central processing unit) and a RAM (Random Access Memory), and transmits and receives information and controls each part. Vehicle-side control unit 130 is connected to detection unit 110, vehicle-side communication unit 120, vehicle-side information storage unit 140, GPS reception unit 150, notification unit 160, operation unit 170, and drive unit 180.

Specifically, the vehicle-side control unit 130 includes a traveling control unit 131, a vehicle periphery three-dimensional information extraction unit 132, a difference extraction unit 133, a determination unit 134, and a vehicle periphery three-dimensional information correction unit 135. The functions of the units included in the vehicle-side control unit 130 will be described in detail later with reference to FIG.

The vehicle-side information storage unit 140 is configured of a device capable of storing information, such as a hard disk and a random access memory (RAM). The vehicle-side information storage unit 140 can read and write various information under the control of the vehicle-side control unit 130.

Under the control of the vehicle-side control unit 130, the vehicle-side information storage unit 140 and the vehicle-side communication unit 120 can also mutually transmit and receive information.

Specifically, the vehicle-side information storage unit 140 includes a vehicle-specific correction information storage unit 141, a three-dimensional map information storage unit 142, a difference information storage unit 143, a travel instruction information storage unit 144, and a three-dimensional information storage around the vehicle. Part 145 is included.

Vehicle-side information storage unit 140 may be configured of a single storage device, or may be configured of a plurality of storage devices. Each information stored in the vehicle-side information storage unit 140 will be described in detail later with reference to FIG.

The GPS receiving unit 150 receives signals from a plurality of GPS (Global Positioning System) satellites, and demodulates the received signals to acquire position information indicating the current position of the vehicle 200. The GPS receiving unit 150 outputs the acquired position information to the vehicle control unit 130.

The notification unit 160 notifies the driver of various information using at least one of sound, light, and vibration, such as a display, a speaker, and an actuator. The notification unit 160 is controlled by the vehicle control unit 130.

The operation unit 170 is a device that can be operated by the user, such as a switch or a touch panel. The driver who is the user can designate various settings for automatic driving by operating the operation unit 170. Here, "automatic driving" is a function of automatically driving the vehicle to a destination, and means all functions to automatically move the vehicle other than the driver's driving operation.

The drive unit 180 generates a driving force that rotates the wheels of the vehicle. The drive unit 180 is, for example, an electric motor or various engines. During the manual operation, the drive unit 180 is controlled based on the driver's acceleration / deceleration operation. On the other hand, when the automatic driving is performed, the driving unit 180 is directly controlled by the traveling control unit 131.

[Configuration of automatic driving support server]
Next, the configuration of the automatic driving support server 400 will be described in detail. The automatic driving support server 400 includes a CPU (central processing unit) as an arithmetic unit, a random access memory (RAM) as a server-side information storage unit 410 and a hard disk, a communication device, a display or printing device as an information output unit, , A computer having an input device or the like for inputting an operator's operation command.

The automatic driving support server 400 is configured to include a server-side information storage unit 410, a server-side control unit 420, and a server-side communication unit 430. Next, detailed configurations of the server-side information storage unit 410, the server-side control unit 420, and the server-side communication unit 430 will be described.

The server-side information storage unit 410 is configured of a device capable of storing information, such as a hard disk and a random access memory (RAM). The server-side information storage unit 410 can read and write various types of information under the control of the server-side control unit 420.

Under the control of the server-side control unit 420, the server-side information storage unit 410 and the server-side communication unit 430 can also mutually transmit and receive information.

Specifically, the server-side information storage unit 410 includes a difference information storage unit 411, a vehicle-specific correction information storage unit 412, a travel instruction information storage unit 413, a three-dimensional map information storage unit 414, and a destination information storage unit 415. including.

The server-side information storage unit 410 may be configured of a single storage device or may be configured of a plurality of storage devices. Each information stored in the server-side information storage unit 410 will be described in detail later with reference to FIG.

The server-side control unit 420 is an arithmetic device including, for example, a CPU (central processing unit) and a RAM (Random Access Memory), and performs transmission and reception of information and control of each part.

Specifically, the server-side control unit 420 includes a vehicle-specific correction information generation unit 421, a collection unit 422, a travel instruction information generation unit 423, and a three-dimensional map information update unit 424. The function of each unit of the server-side control unit 420 will be described in detail later with reference to FIG.

The server side communication unit 430 transmits / receives various information to / from the vehicle 200 via the network 300. Similar to the vehicle communication unit 120, the server communication unit 430 performs communication, for example, by wireless communication using a mobile phone line. The server communication unit 430 is controlled by the server control unit 420. The server side communication unit 430 can also communicate with other vehicles (for example, the vehicle 500) other than the vehicle 200.

[Operation of in-vehicle device and automatic driving support server]
FIG. 2 is a flowchart showing an operation example of the in-vehicle apparatus and the automatic driving support server according to the present embodiment. Specifically, the processing of FIG. 2 is performed by the vehicle-side control unit 130 and the server-side control unit 420. S101 to S107 are processing operations of the vehicle side control unit 130. Further, S201 to S206 are processing operations of the server side control unit 420.

First, when the automatic driving mode is started by the user operation of the operation unit 170 or the like, the vehicle-side control unit 130 downloads three-dimensional map information and vehicle-specific correction information (S101).

When receiving the download instruction, the server-side control unit 420 performs server-side communication with the three-dimensional map information stored in the three-dimensional map information storage unit 414 and the vehicle-specific correction information stored in the vehicle-specific correction information storage unit 412. Control is performed to transmit from the unit 430 (S201).

The three-dimensional map information received by the in-vehicle apparatus 100 is stored in the three-dimensional map information storage unit 142. The vehicle-specific correction information received by the in-vehicle device 100 is stored in the vehicle-specific correction information storage unit 141.

The three-dimensional map information stored in the three-dimensional map information storage unit 414 is information generated based on the result of measurement by a dedicated survey vehicle for creating three-dimensional map information.

Three-dimensional map information is information corresponding to position information. Three-dimensional information including accurate road information such as road width, lanes, signs, etc., as well as detailed position information of the road, as well as information such as road inclination, road unevenness, road shoulder unevenness, etc. It is included. The vehicle-specific correction information will be described later.

Next to S101, the vehicle periphery three-dimensional information extraction unit 132 acquires vehicle periphery three-dimensional information that is three-dimensional information around the vehicle 200 at the present time based on the detection result of the detection unit 110 (S102). The acquired vehicle periphery three-dimensional information is stored in the vehicle periphery three-dimensional information storage unit 145. The vehicle periphery three-dimensional information is stored in the vehicle periphery three-dimensional information storage unit 145 in association with the current position of the vehicle 200 detected by the GPS reception unit 150.

Next to S102, the vehicle periphery three-dimensional information correction unit 135 reads the vehicle periphery three-dimensional information stored in the vehicle periphery three-dimensional information storage unit 145, and the vehicle-specific correction information stored in the vehicle-specific correction information storage unit 141 After the correction is performed using the above, the vehicle periphery three-dimensional information storage unit 145 is stored again (S103). This detailed process will be described later.

After S103, the difference extraction unit 133 extracts, as difference information, the difference between the vehicle periphery three-dimensional information detected by the vehicle 200 and the three-dimensional map information (S104). The difference referred to here is, for example, a case where an object that does not exist in the three-dimensional map information is included in the three-dimensional information around the vehicle. Also, the difference may be a difference based on the difference in measurement conditions between the surveying vehicle and the vehicle using three-dimensional map information. The extracted difference information is stored in the difference information storage unit 143.

The difference extraction unit 133 extracts difference information using three-dimensional map information corresponding to the current position information of the vehicle 200 when the vehicle 200 detects three-dimensional information around the vehicle. This makes it possible to compare information at the same position.

After S104, the determination unit 134 determines whether the difference information is a difference unique to the vehicle 200 (S105).

Here, the difference specific to the vehicle 200 determined by the determination unit 134 means the mounting position of the detection unit 110 for detecting the three-dimensional information around the vehicle 200, the accuracy of the detection unit 110, and the difference of the detection unit 110. It is a difference based on at least one of the performance.

The determination result is stored in the difference information storage unit 143 as a part of the difference information in association with the extracted difference information.

Vehicle-side control unit 130 transmits the difference information stored in difference information storage unit 143 to automatic driving support server 400. When receiving the difference information (YES in S202), the server-side control unit 420 stores the received difference information in the difference information storage unit 411. When the difference information is not received (NO in S202), the server-side control unit 420 executes S202 again.

If the vehicle-specific correction information generation unit 421 determines that the received difference information is determined to be a difference unique to the vehicle 200 (YES in S203), the difference information stored in the difference information storage unit 411 The vehicle-specific correction information for correcting the three-dimensional information around the vehicle detected by the vehicle 200 is generated based on the above (S204).

The vehicle-specific correction information generated by the vehicle-specific correction information generation unit 421 is stored in the vehicle-specific correction information storage unit 412.

The vehicle-specific correction information is represented by, for example, a predetermined coefficient, a predetermined length, and a priority. For example, when it is determined by statistical processing that the difference between the vehicle periphery three-dimensional information and the three-dimensional map information deviates at a constant rate, the vehicle-specific correction information generation unit 421 changes the vehicle periphery three-dimensional information to Vehicle-specific correction information is generated so as to be multiplied by a predetermined coefficient. If the vehicle-specific correction information generation unit 421 shifts the vehicle-specific correction information by a predetermined length, the vehicle-specific correction information generation unit 421 may generate the vehicle-specific correction information so as to increase or decrease a predetermined length.

The vehicle periphery three-dimensional information correction unit 135 corrects the vehicle periphery three-dimensional information based on the vehicle-specific correction information in the process of S103 described above. By this processing, the difference extracted by the difference extracting unit 133 approaches a difference other than the difference due to the difference in measurement conditions between the surveying vehicle and the vehicle 200, that is, the true difference of the three-dimensional information.

Next to S204, the vehicle 200 automatically generates the vehicle 200 based on the three-dimensional map information stored in the three-dimensional map information storage unit 414 by the travel instruction information generation unit 423 and the destination information stored in the destination information storage unit 415. It generates travel instruction information for driving.

The destination information is information including position information of a destination to which the vehicle 200 is heading, and is received from the vehicle 200 and stored in advance.

Specifically, the travel instruction information generation unit 423 calculates detailed lane positions, speeds, accelerations, and the like for the vehicle 200 to automatically travel to arrive at the destination, and uses the result as travel instruction information. The calculated traveling instruction information is stored in the traveling instruction information storage unit 413 (S205).

The server-side control unit 420 transmits the traveling instruction information and the vehicle-specific correction information to the vehicle 200 (S206). When the vehicle-side control unit 130 receives the traveling instruction information and the vehicle-specific correction information (YES in S106), the traveling instruction information is sent to the traveling instruction information storage unit 144, and the vehicle-specific correction information is stored in the vehicle-specific correction information storage unit Store to 141. When the traveling instruction information has not been received (NO in S106), the vehicle-side control unit 130 executes S106 again.

When the traveling instruction information and the vehicle-specific correction information are received (YES in S106), the traveling control unit 131 controls the traveling of the vehicle 200 based on the traveling instruction information stored in the traveling instruction information storage unit 144 (S107). ). Specifically, the traveling control unit 131 controls the drive unit 180 to automatically travel the vehicle based on traveling instruction information corresponding to the position information acquired by the GPS receiving unit 150. The traveling control unit 131 notifies that effect from the notifying unit 160 when performing the automatic driving.

The traveling control unit 131 ends the process (end in FIG. 2) when the automatic driving end condition is met (YES in S108). The automatic driving termination condition is a case where a destination is reached or an event that can not continue the automatic driving occurs.

When the automatic driving termination condition is not met (NO in S108), the vehicle-side control unit 130 returns the process to S101 while performing automatic driving continuously.

When the process is ended (the end in FIG. 2), the vehicle-side control unit 130 starts the process again (when the automatic operation mode in FIG. Can be

In S202, when the received difference information is information determined not to be unique to the vehicle 200 (NO in S203), the collection unit 422 collects the data. The three-dimensional map information update unit 424 updates the three-dimensional map information stored in the three-dimensional map information storage unit 414 based on the difference information collected by the collection unit 422 (S207).

The information determined not to be a difference specific to the vehicle 200, that is, represents that the three-dimensional information of the road on which the vehicle 200 is traveling is different from the three-dimensional map information stored in the three-dimensional map information storage unit 414. There is. The difference information transmitted from the vehicle 200 is extracted after correcting the three-dimensional information around the vehicle in the process of S103 described above. Therefore, the difference information collected by the collection unit 422 is close to the true difference.

The three-dimensional map information updating unit 424 is a three-dimensional map based on difference information transmitted from information of a plurality of vehicles, such as information transmitted from another vehicle 500, as well as information of only one vehicle. Information can be updated. This makes it possible to more accurately update three-dimensional map information.

Finally, the difference in measurement conditions between a surveying vehicle for creating three-dimensional map information and a vehicle using three-dimensional map information will be described using FIG. FIG. 3 is a diagram for explaining the difference in measurement conditions between a surveying vehicle and a vehicle using three-dimensional map information.

The survey vehicle laser radar 700 is a radar mounted on a survey vehicle which is a dedicated vehicle for creating three-dimensional map information. On the other hand, the laser radar 112 is a radar mounted on a vehicle 200 which is a vehicle using three-dimensional map information. Although the laser radar 112 and the laser radar 700 for survey vehicles are described in the drawings mounted on the same vehicle for convenience of explanation, they are actually mounted on different vehicles.

The survey vehicle laser radar 700 is installed above the roof of the vehicle. The reason for being installed at this position is that the entire periphery of the vehicle can be searched. On the other hand, the laser radar 112 is installed near the bumper in front of the vehicle.

For example, the case where an obstacle 600 exists in front of the vehicle will be described. For example, the height in the vertical direction from the ground of the obstacle 600 is H.

The case of detecting the obstacle 600 in the detection range A of the survey vehicle laser radar 700 and the case of detecting the obstacle 600 in the detection range B of the laser radar 112 will be examined. The angles of the obstacle 600 viewed from the respective laser radars become different angles due to the difference in the mounting position. The laser radar emits a laser pulse and measures the distance to the object from the time when the reflected wave returns. For this reason, if the angle of the obstacle 600 with respect to the detection range A is different, the height of the apparent object may be detected differently.

Thus, if the mounting positions of the laser radars are different, for example, the same level difference on the road may be detected as different heights. Not only differences in mounting position, but also differences in accuracy or performance of various sensors cause differences.

If the 3D map information is updated using the difference information between the 3D information around the vehicle and the 3D map information detected by the vehicle without correcting these differences, the 3D map information is incorrect There is a possibility of becoming In order to realize automatic driving, it is necessary for the three-dimensional map information to be accurate, but there is a possibility that safe automatic driving can not be realized if the three-dimensional map information is not correctly updated.

[Modification]
In the present embodiment, the functions of each of the vehicle-side control unit 130 and the server-side control unit 420 can be replaced as appropriate. For example, the process (S105) performed by the determination unit 134 may be performed by the server-side control unit 420. In addition, the vehicle-side control unit 130 can also execute the processing (S204) performed by the vehicle-specific correction information generation unit 421. It is possible to appropriately share the functions according to the processing load, the communication speed, and the like.

Also, although the processing of S102 to S105 and S202 to S203 for generating the vehicle specific correction information (S204) has been described as being performed during the automatic operation mode, it should be performed during the normal operation of traveling by the driver's operation. Is also possible. This makes it possible to correct the difference in measurement conditions between the surveying vehicle and the vehicle using three-dimensional map information even during normal driving.

[Effect of this embodiment]
The information management apparatus in the present embodiment generates correction information based on the difference information when it is determined that the difference information is a difference unique to the vehicle. As a result, the present invention has the effect of being able to correct the difference in measurement conditions between a surveying vehicle for creating three-dimensional map information and a vehicle using this three-dimensional map information.

The present invention is suitable as an information management apparatus or the like that uses three-dimensional map information.

Reference Signs List 1 information management device 100 in-vehicle device 110 detection unit 111 camera 112 laser radar 120 vehicle side communication unit 130 vehicle side control unit 131 travel control unit 132 vehicle periphery three-dimensional information extraction unit 133 difference extraction unit 134 determination unit 135 vehicle periphery three-dimensional information Correction unit 140 Vehicle-side information storage unit (information storage unit)
141 Vehicle-specific correction information storage unit 142 Three-dimensional map information storage unit 143 Difference information storage unit 144 Running instruction information storage unit 145 Vehicle peripheral three-dimensional information storage unit 150 GPS receiver (current position acquisition unit)
160 Notification unit 170 Operation unit 180 Drive unit 200 Vehicle 300 Network 400 Automated driving support server 410 Server side information storage unit (information storage unit)
411 difference information storage unit 412 vehicle specific correction information storage unit 413 travel instruction information storage unit 414 three-dimensional map information storage unit 415 destination information storage unit 420 server side control unit 421 vehicle specific correction information generation unit 422 collection unit 423 travel instruction information Generation unit 424 Three-dimensional map information update unit 430 Server-side communication unit 500 Other vehicle 600 Obstacle 700 Laser radar for surveying vehicle

Claims

A difference extracting unit that extracts, as difference information, a difference between three-dimensional information around the vehicle and three-dimensional information around the vehicle detected by the vehicle;
A determination unit that determines whether the difference information is a difference unique to the vehicle;
Information management device.
The difference inherent to the vehicle determined by the determination unit is at least an attachment position of a detection unit for detecting the three-dimensional information around the vehicle, accuracy of the detection unit, and performance of the detection unit. It is a difference based on one,
The information management apparatus according to claim 1.
Vehicle-specific correction that corrects the three-dimensional information around the vehicle detected by the vehicle based on the difference information extracted by the difference extraction unit when the determination unit determines that the difference is unique to the vehicle The vehicle-specific correction information generation unit for generating information
The information management apparatus according to any one of claims 1 and 2.
A vehicle periphery three-dimensional information correction unit that corrects the vehicle periphery three-dimensional information detected by the vehicle based on the vehicle-specific correction information is further provided.
The information management apparatus according to claim 3.
An information storage unit that stores the three-dimensional map information;
A collection unit that collects, among the difference information, the difference information determined by the determination unit not to be unique to the vehicle;
A three-dimensional map information updating unit that updates the three-dimensional map information stored in the information storage unit based on the difference information collected by the collection unit;
The information management apparatus according to any one of claims 1 to 4.
The vehicle further includes a travel instruction information generation unit that generates travel instruction information for the vehicle to perform automatic driving using the three-dimensional map information.
The information management device according to claim 5.
The three-dimensional map information is information corresponding to position information,
And a current position acquisition unit that acquires current position information representing the current position of the vehicle.
The difference extraction unit extracts the difference information using the three-dimensional map information corresponding to the current position information when the vehicle detects the three-dimensional information around the vehicle.
The information management apparatus according to any one of claims 1 to 6.
Vehicle peripheral three-dimensional information extraction unit for acquiring vehicle peripheral three-dimensional information;
A difference extraction unit that extracts, as difference information, a difference between the vehicle periphery three-dimensional information and the three-dimensional map information;
A determination unit that determines whether the difference information is a difference unique to the vehicle;
vehicle.
An information storage unit that stores the three-dimensional map information;
A collection unit that collects, among the difference information, the difference information determined by the determination unit not to be unique to the vehicle;
A three-dimensional map information updating unit that updates the three-dimensional map information stored in the information storage unit based on the difference information collected by the collection unit;
A travel instruction information generation unit that generates travel instruction information for the vehicle to perform automatic driving using the three-dimensional map information;
And a traveling control unit configured to control traveling of the vehicle based on the traveling instruction information generated by the traveling instruction information generation unit.
A vehicle according to claim 8.
A difference extracting step of extracting, as difference information, a difference between three-dimensional information around the vehicle and three-dimensional information around the vehicle detected by the vehicle;
A determination step of determining whether the difference information is a difference unique to the vehicle;
Information management method.
The difference inherent to the vehicle determined in the determination step is at least the attachment position of the detection unit for detecting the three-dimensional information around the vehicle, the accuracy of the detection unit, and the performance of the detection unit. It is a difference based on one,
The information management method according to claim 10.
When it is determined in the determination step that the difference information is a difference unique to the vehicle, the vehicle periphery three-dimensional information detected in the vehicle is corrected based on the difference information extracted in the difference extraction step Further comprising a vehicle-specific correction information generation step of generating vehicle-specific correction information
The information management method according to any one of claims 10 and 11.
The vehicle periphery three-dimensional information correction step of correcting the vehicle periphery three-dimensional information detected by the vehicle based on the vehicle-specific correction information is further provided.
The information management method according to claim 12.
A collection step of collecting the difference information determined to be not a difference inherent to the vehicle in the determination step;
A three-dimensional map information updating step of updating the three-dimensional map information based on the difference information collected at the collecting step;
The information management method according to any one of claims 10 to 13.
The vehicle further comprises a traveling instruction information generation step of generating traveling instruction information for the vehicle to perform automatic driving using the three-dimensional map information.
The information management method according to claim 14.